version: 66.13
glider: 171
mission: 11
dive: 546
start: 12 2 119 20 55 2
data:
$ID,171
$MISSION,11
$DIVE,546
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,410
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.0163117
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,9
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,021219,203739,634.6381,8329.7939,15,1.1,15,-1.8,0.5,276.7,8,6.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.1
$GPS2,021219,205409,634.6586,8329.5068,3,1.4,5,-1.8,0.8,280.2,7,8.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,211.1,84105,-19.5,-8.049,-26.91,1839
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,61,2498,633,568,0.0,0.0,0,93,0.00,0.00,-81.05,0.005,16386,0.000,0.000,59,2499,2552,2553,2551,0,0,0,0,0,0,14.85,28.83,14.88
$GC,97,-0.67,-97.3,59,2499,2553,2551,4.3,-10.8,17,129,9.30,2.40,-16.15,0.008,18948,0.343,0.079,2111,1114,3369,3384,3354,0,0,0,0,0,0,13.95,12.63,14.40
$GC,221,-0.67,-97.3,2110,1114,3383,3354,44.0,-26.8,42,225,0.00,2.38,0.00,0.000,1030,0.000,0.063,2102,2504,3368,3383,3354,0,0,0,0,0,0,14.62,14.51,14.66
$GC,412,-0.67,-97.3,2101,2504,3383,3354,85.8,-16.7,64,417,0.00,2.35,0.00,0.000,260,0.000,0.076,2091,3896,3368,3383,3354,0,0,0,0,0,0,15.02,14.52,15.04
$GC,644,-0.67,-97.3,2090,3896,3382,3354,121.0,-14.3,110,649,0.00,2.20,0.00,0.000,1030,0.000,0.033,2090,2503,3367,3382,3353,0,0,0,0,0,0,14.77,14.71,14.79
$GC,835,-0.67,-97.3,2090,2502,3382,3354,148.2,-14.6,130,839,0.00,2.28,0.00,0.000,516,0.000,0.051,2090,1110,3367,3381,3354,0,0,0,0,0,0,15.07,14.63,15.09
$GC,913,-0.67,-97.3,2090,1109,3381,3354,159.2,-13.7,145,920,0.12,2.35,0.00,0.000,3078,0.227,0.055,2109,2511,3367,3380,3354,0,0,0,0,0,0,14.42,14.64,14.62
$GC,1110,-0.67,-97.3,2109,2511,3379,3353,183.5,-12.9,166,1114,0.00,2.35,0.00,0.000,260,0.000,0.080,2100,3893,3366,3379,3353,0,0,0,0,0,0,15.07,14.57,15.09
$GC,1167,-0.67,-97.3,2100,3893,3379,3353,191.5,-14.1,177,1172,0.00,2.20,0.00,0.000,1030,0.000,0.031,2099,2492,3366,3379,3353,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1351,-0.67,-97.3,2099,2491,3377,3354,216.5,-12.7,196,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2491,3365,3377,3353,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1532,-0.67,-97.3,2100,2491,3375,3353,238.2,-12.2,214,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2491,3364,3375,3353,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1721,-0.67,-97.3,2100,2491,3372,3353,259.5,-11.1,229,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2491,3362,3372,3353,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2021,-0.67,-97.3,2100,2491,3371,3348,293.9,-11.9,244,2026,0.00,2.42,0.00,0.000,260,0.000,0.080,2089,3899,3359,3371,3348,0,0,0,0,0,0,15.11,14.57,15.14
$GC,2099,-0.67,-97.3,2088,3899,3369,3348,303.0,-11.8,259,2103,0.00,2.22,0.00,0.000,1030,0.000,0.032,2089,2495,3359,3370,3348,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2403,-0.67,-97.3,2089,2493,3367,3345,338.1,-11.2,275,2407,0.00,2.25,0.00,0.000,516,0.000,0.047,2089,1114,3356,3367,3345,0,0,0,0,0,0,15.11,14.66,15.14
$GC,2454,-0.67,-97.3,2088,1114,3366,3345,343.6,-10.6,285,2461,0.12,2.35,0.00,0.000,3078,0.214,0.056,2109,2507,3356,3367,3345,0,0,0,0,0,0,14.45,14.64,14.64
$GC,2764,-0.67,-97.3,2108,2508,3365,3341,373.9,-9.9,302,2768,0.00,2.40,0.00,0.000,260,0.000,0.083,2099,3894,3352,3364,3341,0,0,0,0,0,0,15.11,14.54,15.14
$GC,2805,-0.67,-97.3,2099,3894,3364,3341,378.2,-10.6,310,2809,0.00,2.22,0.00,0.000,1030,0.000,0.034,2099,2497,3352,3364,3341,0,0,0,0,0,0,14.80,14.73,14.81
$GC,3128,-0.67,-97.3,2099,2496,3362,3339,412.7,-11.1,329,3134,0.00,2.42,0.00,0.000,260,0.000,0.082,2088,3896,3350,3362,3339,0,0,0,0,0,0,15.09,14.53,15.13
$GC,3176,-0.67,-97.3,2088,3896,3361,3339,418.6,-11.8,339,3180,0.00,2.22,0.00,0.000,1030,0.000,0.034,2089,2499,3350,3361,3339,0,0,0,0,0,0,14.79,14.73,14.81
$GC,3487,-0.67,-97.3,2088,2497,3359,3336,455.4,-11.6,356,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3348,3359,3337,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3788,-0.67,-97.3,2088,2498,3356,3334,489.4,-10.9,371,3794,0.00,2.30,0.00,0.000,516,0.000,0.049,2088,1112,3345,3356,3334,0,0,0,0,0,0,15.11,14.62,15.13
$GC,3837,-0.67,-97.3,2088,1111,3356,3334,494.8,-11.0,380,3843,0.12,2.38,0.00,0.000,3078,0.213,0.058,2108,2506,3345,3356,3334,0,0,0,0,0,0,14.40,14.59,14.60
$GC,4156,-0.67,-97.3,2108,2506,3355,3332,525.5,-9.2,398,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2506,3343,3355,3332,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4456,-0.67,-97.3,2107,2506,3353,3330,553.3,-9.4,413,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2506,3341,3353,3330,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4755,-0.67,-97.3,2108,2506,3351,3328,581.4,-9.6,428,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2506,3339,3351,3328,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5056,-0.67,-97.3,2108,2506,3349,3327,610.2,-9.6,443,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2506,3338,3349,3327,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5355,-0.67,-97.3,2108,2506,3348,3325,638.1,-9.2,458,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2506,3336,3348,3325,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5656,-0.67,-97.3,2108,2506,3347,3323,665.1,-9.0,473,5660,0.00,2.42,0.00,0.000,260,0.000,0.086,2099,3896,3335,3347,3323,0,0,0,0,0,0,15.10,14.45,15.13
$GC,5683,-0.67,-97.3,2098,3896,3346,3323,667.6,-9.4,478,5687,0.00,2.25,0.00,0.000,1030,0.000,0.035,2099,2499,3334,3346,3323,0,0,0,0,0,0,14.73,14.67,14.76
$GC,5999,-0.67,-97.3,2098,2497,3344,3322,697.0,-9.2,496,6004,0.00,2.45,0.00,0.000,260,0.000,0.085,2088,3892,3332,3344,3321,0,0,0,0,0,0,15.11,14.43,15.13
$GC,6026,-0.67,-97.3,2088,3892,3344,3322,699.6,-9.6,501,6031,0.00,2.28,0.00,0.000,1030,0.000,0.036,2088,2495,3332,3344,3321,0,0,0,0,0,0,14.72,14.65,14.74
$GC,6343,-0.67,-97.3,2088,2493,3343,3321,730.3,-9.9,519,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3332,3343,3321,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6642,-0.67,-97.3,2087,2493,3342,3320,759.7,-9.7,534,6649,0.00,2.47,0.00,0.000,260,0.000,0.085,2077,3899,3331,3342,3320,0,0,0,0,0,0,15.10,14.41,15.12
$GC,6692,-0.67,-97.3,2077,3899,3342,3320,764.6,-9.9,544,6698,0.12,2.28,0.00,0.000,3078,0.214,0.036,2108,2493,3331,3342,3320,0,0,0,0,0,0,14.33,14.64,14.52
$GC,7007,-0.67,-97.3,2108,2491,3341,3320,790.0,-8.0,561,7011,0.00,2.33,0.00,0.000,516,0.000,0.051,2108,1108,3330,3341,3319,0,0,0,0,0,0,15.09,14.52,15.11
$GC,7048,-0.67,-97.3,2108,1108,3340,3319,793.6,-8.2,569,7053,0.00,2.40,0.00,0.000,1030,0.000,0.059,2099,2505,3329,3340,3319,0,0,0,0,0,0,14.61,14.49,14.65
$GC,7370,-0.67,-97.3,2099,2505,3340,3317,821.4,-8.8,588,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2505,3328,3340,3317,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7669,-0.67,-97.3,2099,2505,3338,3316,848.0,-9.0,603,7674,0.00,2.42,0.00,0.000,260,0.000,0.086,2088,3892,3327,3338,3316,0,0,0,0,0,0,15.09,14.38,15.12
$GC,7725,-0.67,-97.3,2088,3892,3338,3315,853.4,-9.7,614,7730,0.00,2.25,0.00,0.000,1030,0.000,0.036,2088,2502,3327,3338,3316,0,0,0,0,0,0,14.68,14.61,14.70
$GC,8048,-0.67,-97.3,2088,2501,3337,3316,883.0,-9.0,633,8052,0.00,2.33,0.00,0.000,516,0.000,0.052,2088,1110,3326,3337,3315,0,0,0,0,0,0,15.08,14.49,15.11
$GC,8089,-0.67,-97.3,2088,1110,3337,3315,886.9,-9.1,641,8097,0.12,2.40,0.00,0.000,3078,0.210,0.059,2108,2499,3325,3336,3315,0,0,0,0,0,0,14.26,14.46,14.46
$GC,8410,-0.67,-97.3,2108,2499,3336,3315,911.8,-7.7,660,8415,0.00,2.45,0.00,0.000,260,0.000,0.086,2099,3894,3325,3336,3315,0,0,0,0,0,0,15.08,14.35,15.11
$GC,8442,-0.67,-97.3,2098,3894,3336,3314,914.5,-8.4,666,8446,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2495,3325,3336,3315,0,0,0,0,0,0,14.66,14.58,14.68
$GC,8753,-0.67,-97.3,2098,2495,3336,3314,940.8,-8.4,683,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2495,3325,3336,3314,0,0,0,0,0,0,15.09,15.12,15.12
$GC,9054,-0.67,-97.3,2098,2494,3335,3314,967.4,-9.1,698,9058,0.00,2.50,0.00,0.000,260,0.000,0.088,2088,3896,3324,3335,3313,0,0,0,0,0,0,15.09,14.32,15.11
$GC,9080,-0.67,-97.3,2087,3896,3335,3313,970.0,-9.9,703,9084,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2503,3324,3335,3313,0,0,0,0,0,0,14.64,14.57,14.66
$STATE,9293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9293,begin apogee
$GC,9301,-0.15,0.0,2088,2501,3334,3313,991.1,-9.8,716,9395,0.68,0.00,90.20,2.005,10246,0.168,0.000,2280,2501,2968,2998,2938,0,0,0,0,0,0,14.15,14.01,12.64
$STATE,9396,end apogee,CONTROL_FINISHED_OK
$STATE,9396,begin climb
$GC,9399,0.67,97.3,2280,2501,2997,2938,994.3,0.0,721,9510,0.82,2.50,103.10,1.991,10500,0.090,0.083,2554,3845,2569,2597,2542,0,0,0,0,0,0,14.19,13.97,12.61
$GC,9534,0.73,152.4,2553,3845,2592,2542,993.2,5.0,736,9596,0.00,2.35,56.15,1.968,9254,0.000,0.035,2565,2438,2345,2380,2310,0,0,0,0,0,0,14.32,14.26,12.64
$GC,9897,0.73,152.4,2564,2438,2370,2305,955.8,11.2,764,9902,0.00,2.38,0.00,0.000,516,0.000,0.056,2576,1045,2337,2370,2305,0,0,0,0,0,0,14.88,14.47,14.90
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$STATE,19696,end climb,SURFACE_DEPTH_REACHED
$STATE,19696,begin surface coast
$STATE,19726,end surface coast,CONTROL_FINISHED_OK
$STATE,19726,begin surface
$SM_CCo,19747,88.22,0.580,1,0,929,500.17
$SM_GC,1.35,7.43,0.08,88.22,0.057,0.165,0.580,126,2519,929,-6.78,-1.07,500.17,0,0,0,0,1,0,14.57,14.61,13.67
$IRIDIUM_FIX,636.11,8330.48,021219,144257
$TT8_MAMPS,0.019474,0.15729
$HUMID,48.14
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,12.61,188.220
$10V_AH,12.43,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.275,198.800,492.850,88.225,0.000,0.000,0.000,598.750,0.250,0.000,17.357,1557.424,15035.889,721.836,2988.859,525.535,0.000,2689.499,0.000,2394.781,0.000,0.541,0.000
$DEVICE_MAMPS,342.720,165.240,2005.065,579.870,0.000,0.000,0.000,192.015,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,872.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250560
$DATA_FILE_SIZE,73384,1684
$CAP_FILE_SIZE,195721,0
$CFSIZE,260034560,137277440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.025,288.48,1
$GPS,031219,022640,633.337,8328.170,14,1.9,15,-1.8,0.1,0.0,5,7.9